CN118058084B - Front end actuator of intelligent picking system - Google Patents
Front end actuator of intelligent picking system Download PDFInfo
- Publication number
- CN118058084B CN118058084B CN202410454129.3A CN202410454129A CN118058084B CN 118058084 B CN118058084 B CN 118058084B CN 202410454129 A CN202410454129 A CN 202410454129A CN 118058084 B CN118058084 B CN 118058084B
- Authority
- CN
- China
- Prior art keywords
- synchronous belt
- jaw assembly
- carrying bowl
- belt gear
- clamping jaw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000001360 synchronised effect Effects 0.000 claims abstract description 48
- 239000012636 effector Substances 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 241001122767 Theaceae Species 0.000 abstract description 14
- 238000010008 shearing Methods 0.000 abstract description 4
- 238000003860 storage Methods 0.000 abstract description 4
- 239000000919 ceramic Substances 0.000 abstract description 3
- 239000002184 metal Substances 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of tea leaf picking, in particular to a front end actuator of an intelligent picking system, which comprises the following components: the device comprises an electric control clamping jaw assembly, a driving rod, a driven rod, a carrying bowl, a first synchronous belt gear, a second synchronous belt gear, a synchronous belt, a fixing frame arranged on the electric control clamping jaw assembly, a motor arranged on the fixing frame, a camera and a miniature steering engine. The invention is provided with a camera and an electric control clamping jaw assembly to identify and softly pick articles, and the electric control clamping jaw assembly can expand the shearing function by placing ceramic or metal cutters and the like; meanwhile, the object carrying bowl is arranged, so that picked objects can be conveniently and rapidly stored, and the picked objects can be rapidly poured to a designated storage position by controlling the object carrying bowl through the miniature steering engine and the motor.
Description
Technical Field
The invention relates to the technical field of tea picking, in particular to a front end actuator of an intelligent picking system.
Background
Along with the continuous development of economy, the demands of people on tea leaves are larger and larger, and in the large-scale agricultural production, the picking and harvesting workload of the tea leaves is huge, and in order to ensure the quality of products, timely picking is needed, so that the tea leaves are the most laborious work in the whole operation. In addition, the quality of tea picking can directly influence the subsequent treatment work of tea, and finally the economic benefit can be seriously influenced. To solve this series of problems, tea leaf picking robots are an important development object in the field of agricultural science and technology, and end effectors are generally regarded as core technologies of intelligent picking systems.
Picking and recycling tea leaves are two key actions which must be realized by the intelligent picking system, namely, picking of the tea leaves is finished by the methods of stretch breaking, twist breaking, shearing and the like, and recycling of the tea leaves is finished by the methods of sucking or directly placing. As seen from the literature published so far, the mode of picking tea leaves is mainly cutting by scissors or cutters, breaking by a mechanical arm, and the like.
However, the front end actuator of the intelligent picking system in the prior art is difficult to meet the requirements of people on simplicity in operation, strong universality, low cost and rapidness in picking and recovery when picking tea leaves.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a front end actuator of an intelligent picking system.
In order to achieve the above purpose, the present invention adopts the following specific technical scheme:
the invention provides a front end actuator of an intelligent picking system, which comprises: the picking device comprises an electric control clamping jaw assembly, a driving rod, a driven rod, a carrying bowl, a first synchronous belt gear, a second synchronous belt gear, a synchronous belt, a fixing frame arranged on the electric control clamping jaw assembly, a motor arranged on the fixing frame, a camera and a miniature steering engine, wherein the electric control clamping jaw assembly is used for picking;
One end of the driving rod is fixedly arranged on the output shaft of the motor, the other end of the driving rod is hinged with the carrying bowl, and the driving rod is used for driving the carrying bowl to rotate around the output shaft of the motor;
The object carrying bowl is fixedly connected with the second synchronous belt gear close to the driven rod end and is used for accommodating objects picked by the electronic control clamping jaw assembly; the initial movement position of the carrying bowl is positioned below the electronic control clamping jaw assembly;
the first synchronous belt gear is connected with the second synchronous belt gear through a synchronous belt;
The first synchronous belt gear is fixedly arranged on an output shaft of the miniature steering engine, and the object carrying bowl is driven to turn over by the synchronous belt and the second synchronous belt gear;
One end of the driven rod is hinged with the end face of the first synchronous belt gear, the other end of the driven rod is hinged with the end face of the second synchronous belt gear, and the driven rod is used for bearing the carrying bowl on the premise of not interfering with the overturning of the carrying bowl;
the optical axis of the camera is parallel to the central axis of the electric control clamping jaw assembly; the central axis of the output shaft of the motor, the central axis of the first synchronous belt gear and the central axis of the micro steering engine are coincident; the force arm when the driving rod rotates is parallel to the force arm when the driven rod rotates and is perpendicular to the central axis of the output shaft of the motor.
Preferably, the electronically controlled jaw assembly has a flange mounted thereon for fixedly connecting to an external assembly.
Preferably, the connecting section of the object carrying bowl and the driving rod is of a straight rod structure, the connecting section of the object carrying bowl and the second synchronous belt gear is of a straight rod structure, and the central axes of the two are coincident; the middle section of the carrying bowl is of a bowl-shaped structure.
Preferably, the motor is a planetary reduction motor.
Preferably, the picking end of the electronically controlled jaw assembly is provided with a plastic spacer for flexible picking.
The invention can obtain the following technical effects:
The invention is provided with a camera and an electric control clamping jaw assembly to identify and softly pick articles, and the electric control clamping jaw assembly can expand the shearing function by placing ceramic or metal cutters and the like; meanwhile, the object carrying bowl is arranged, so that picked objects can be conveniently and rapidly stored, and the picked objects can be rapidly poured to a designated storage position by controlling the object carrying bowl through the miniature steering engine and the motor.
Drawings
Fig. 1 is a schematic structural view of a front end actuator of an intelligent picking system according to an embodiment of the present invention.
Wherein reference numerals include: flange 1, automatically controlled clamping jaw subassembly 2, driving lever 3, carry thing bowl 4, miniature steering wheel 5, first synchronous belt gear 6, mount 7, hold-in range 8, second synchronous belt gear 9, motor 10, driven lever 11, depth camera 12.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, like modules are denoted by like reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, a detailed description thereof will not be repeated.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.
The specific operation of the present invention is described in detail below with reference to fig. 1:
The invention provides a front end actuator of an intelligent picking system, which comprises: the electronic control clamping jaw assembly 2, the driving rod 3, the carrying bowl 4, the micro steering engine 5, the first synchronous belt gear 6, the fixing frame 7, the synchronous belt 8, the second synchronous belt gear 9, the motor 10, the driven rod 11 and the depth camera 12.
The electronically controlled jaw assembly 2 is for picking articles. The electric control clamping jaw assembly 2 is provided with a flange 1 for fixedly connecting an external assembly. The picking end of the electric control clamping jaw assembly 2 is provided with a plastic gasket for flexible picking. The electronically controlled jaw assembly 2 may be connected to an external intelligent control assembly to cooperate together to accomplish picking.
The driving rod 3 is used for driving the carrying bowl 4 to rotate around the output shaft of the motor 10. One end of the driving rod 3 is fixedly arranged on the output shaft of the motor 10, and the other end is hinged with the carrying bowl 4.
The carrying bowl 4 is used for accommodating articles picked by the electronically controlled clamping jaw assembly 2. The end, close to the driven rod 11, of the carrying bowl 4 is fixedly connected with the second synchronous belt gear 9. The initial movement position of the carrying bowl 4 is located below the electronic control clamping jaw assembly 2 so as to be convenient for timely storing articles picked by the electronic control clamping jaw assembly 2. The middle section of the carrying bowl 4 is of a bowl-shaped structure, and is convenient to store. The connecting section of the carrying bowl 4 and the driving rod 3 is of a straight rod structure, the connecting section of the carrying bowl 4 and the second synchronous belt gear 9 is of a straight rod structure, the central axes of the carrying bowl 4 and the second synchronous belt gear 9 coincide, and the carrying bowl 4 is guaranteed not to turn when rotating.
The miniature steering engine 5 is used for controlling the carrying bowl 4 to turn around the central axis of the straight rod structure on the carrying bowl 4. The micro steering engine 5 is arranged on the fixing frame 7. The miniature steering engine 5 can be connected with an external intelligent control component and matched with the external intelligent control component to finish the overturning and dumping work of the carrying bowl 4.
The first synchronous belt gear 6 drives the object carrying bowl 4 to turn over through the synchronous belt 8 and the second synchronous belt gear 9. The first synchronous belt gear 6 is fixedly arranged on the output shaft of the micro steering engine 5.
The fixing frame 7 is used for bearing and fixing the motor 10, the camera 12 and the micro steering engine 5. The fixing frame 7 is mounted on the electric control clamping jaw assembly 2.
The timing belt 8 is used to transmit the rotational moment of the first timing belt gear 6. The timing belt 8 is installed between the first timing belt gear 6 and the second timing belt gear 9. In one embodiment of the present invention, the timing belt 8 is a timing belt having a circumference of 255mm and a width of 6 mm.
The second synchronous belt gear 9 is used for driving the carrying bowl 4 to do overturning motion. The second timing belt gear 9 is connected to the first timing belt gear 6 via a timing belt 8. The end face of the second synchronous belt gear 9 far away from the driven rod 11 is fixedly connected with one end of the carrying bowl 4.
The motor 10 is used for controlling the carrying bowl 4 to rotate around the central axis of the output shaft of the motor 10. The motor 10 is mounted on the mount 7. The motor 10 is a planetary reduction motor. The central axis of the output shaft of the motor 10, the central axis of the first synchronous belt gear 6 and the central axis of the micro steering engine 5 are coincident. The motor 10 can be connected with an external intelligent control component, and is matched with the external intelligent control component, the micro steering engine 5, the electric control clamping jaw component 2 and the like to finish picking, storage, dumping and other works.
The driven rod 11 is used for carrying the carrying bowl 4 without disturbing the overturning of the carrying bowl 4. One end of the driven rod 11 is hinged with the end face, far away from the micro steering engine 5, of the first synchronous belt gear 6, and the other end of the driven rod is hinged with the end face, far away from the carrying bowl 4, of the second synchronous belt gear 9. The force arm when the driven rod 11 rotates is parallel to the force arm when the driving rod 3 rotates and is perpendicular to the central axis of the output shaft of the motor 10.
The camera 12 is used to capture images and identify picked-up objects in real time. The camera 12 is mounted on the mount 7. The optical axis of the camera 12 is parallel to the central axis of the electronically controlled jaw assembly 2.
In one embodiment of the present invention, motor 10 employs a UMot miniature motor drive; the external intelligent controller adopts ArduinoUno single-chip microcomputer to control the motor 10 and the micro steering engine 5 simultaneously, the power supply selects 24V power supply to drive the external intelligent controller, and the interface of the external intelligent controller is an RS232 serial port.
In summary, the invention provides a front end actuator of an intelligent picking system. The invention is provided with a camera and an electric control clamping jaw assembly 2 to identify and softly pick articles (such as tea leaves), and the electric control clamping jaw assembly 2 can expand a shearing function by placing ceramic or metal cutters and the like; meanwhile, the object carrying bowl 4 is arranged, so that picked objects can be conveniently and rapidly stored, and the picked objects can be rapidly poured to a designated storage position by controlling the object carrying bowl 4 through the micro steering engine 5 and the motor 10.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been illustrated and described above, it will be appreciated that the above described embodiments are illustrative and should not be construed as limiting the invention. Variations, modifications, alternatives and variations of the above-described embodiments may be made by those of ordinary skill in the art within the scope of the present invention.
The above embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (4)
1. A front end effector of an intelligent picking system, comprising: the picking device comprises an electric control clamping jaw assembly, a driving rod, a driven rod, a carrying bowl, a first synchronous belt gear, a second synchronous belt gear, a synchronous belt, a fixing frame arranged on the electric control clamping jaw assembly, a motor arranged on the fixing frame, a camera and a miniature steering engine, wherein the electric control clamping jaw assembly is used for picking;
the electronic control clamping jaw assembly is used for picking articles, and a flange used for fixedly connecting an external assembly is arranged on the electronic control clamping jaw assembly;
One end of the driving rod is fixedly arranged on the output shaft of the motor, the other end of the driving rod is hinged with the carrying bowl, and the driving rod is used for driving the carrying bowl to rotate around the output shaft of the motor;
The object carrying bowl is fixedly connected with the second synchronous belt gear close to the driven rod end and is used for accommodating objects picked by the electronic control clamping jaw assembly; the initial movement position of the carrying bowl is positioned below the electric control clamping jaw assembly;
the first synchronous belt gear is connected with the second synchronous belt gear through the synchronous belt;
the first synchronous belt gear is fixedly arranged on an output shaft of the miniature steering engine, and the object carrying bowl is driven to turn over by the synchronous belt and the second synchronous belt gear;
one end of the driven rod is hinged with the end face of the first synchronous belt gear, the other end of the driven rod is hinged with the end face of the second synchronous belt gear, and the driven rod is used for bearing the carrying bowl on the premise of not interfering the overturning of the carrying bowl;
The optical axis of the camera is parallel to the central axis of the electric control clamping jaw assembly; the central axis of the output shaft of the motor, the central axis of the first synchronous belt gear and the central axis of the micro steering engine are overlapped; the force arm when the driving rod rotates is parallel to the force arm when the driven rod rotates and is perpendicular to the central axis of the output shaft of the motor;
the miniature steering engine is used for controlling the carrying bowl to turn around the central axis of the straight rod structure on the carrying bowl.
2. The front end actuator of the intelligent picking system according to claim 1, wherein the connecting section of the carrying bowl and the driving rod is of a straight rod structure, the connecting section of the carrying bowl and the second synchronous belt gear is of a straight rod structure, and the central axes of the two are coincident; the middle section of the carrying bowl is of a bowl-shaped structure.
3. The front end effector of the intelligent picking system of claim 1, wherein the motor is a planetary reduction motor.
4. The front end effector of the intelligent picking system of claim 1, wherein the picking end of the electronically controlled jaw assembly is provided with a plastic pad for flexible picking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410454129.3A CN118058084B (en) | 2024-04-16 | 2024-04-16 | Front end actuator of intelligent picking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410454129.3A CN118058084B (en) | 2024-04-16 | 2024-04-16 | Front end actuator of intelligent picking system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118058084A CN118058084A (en) | 2024-05-24 |
| CN118058084B true CN118058084B (en) | 2024-08-02 |
Family
ID=91097454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410454129.3A Active CN118058084B (en) | 2024-04-16 | 2024-04-16 | Front end actuator of intelligent picking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118058084B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110896735A (en) * | 2020-01-04 | 2020-03-24 | 添宇 | Collecting robot is picked to durian high efficiency |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3835715A1 (en) * | 1988-10-20 | 1990-04-26 | Mezoegazdasagi Es Elelmiszerip | Automatic gripping device - robot head - for picking, gripping, moving and releasing objects, in particular fruit |
| CN203646089U (en) * | 2013-12-16 | 2014-06-18 | 西北农林科技大学 | Kiwi fruit picking robot |
| CN108293430B (en) * | 2018-03-28 | 2023-12-29 | 天津职业技术师范大学 | Strawberry harvesting integrated system based on man-machine cooperation |
| CN108370723A (en) * | 2018-04-26 | 2018-08-07 | 梧州学院 | A kind of apple picking |
| CN209572478U (en) * | 2019-02-27 | 2019-11-05 | 韶关学院 | A kind of picking robot |
| CN110614622A (en) * | 2019-10-22 | 2019-12-27 | 山东大学 | Intelligent fruit picking robot and implementation method thereof |
| CN110839407B (en) * | 2019-12-06 | 2021-10-26 | 中国科学院长春光学精密机械与物理研究所 | Vibration picking equipment |
| CN111837640A (en) * | 2020-06-28 | 2020-10-30 | 重庆文理学院 | Hillside orchard intelligence picking robot based on visual identification |
-
2024
- 2024-04-16 CN CN202410454129.3A patent/CN118058084B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110896735A (en) * | 2020-01-04 | 2020-03-24 | 添宇 | Collecting robot is picked to durian high efficiency |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118058084A (en) | 2024-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102550215A (en) | Magnetorheological conformable clamp holder and robot for picking multiple types of fruits and vegetables | |
| CN206703055U (en) | Robot composite flooding joint | |
| CN106938468A (en) | Composite flooding shoulder joint | |
| CN213381558U (en) | Manipulator AC shaft servo-driven side posture rotating mechanism | |
| CN118058084B (en) | Front end actuator of intelligent picking system | |
| CN102090210A (en) | Multi-fruit-type fruit and vegetable picking robot and end effector thereof | |
| CN206294550U (en) | A kind of mechanical arm | |
| CN202247283U (en) | Voice coil motor driven cloth feeding computer controlled lockstitch sewing machine | |
| CN209268042U (en) | A kind of fruit picker device people based on smart phone control | |
| CN208451632U (en) | A kind of flexible drive formula mechanical arm | |
| CN216808122U (en) | Single-arm right-angle filling robot | |
| CN212638121U (en) | Plastic film packaging machine | |
| CN205835317U (en) | A kind of multi-joint manipulator | |
| CN113661834A (en) | Fruit and vegetable picking robot device | |
| CN101177806A (en) | Driving means for combing machine nipper | |
| CN208914532U (en) | A kind of piece picking device of injection molding mechanical arm | |
| CN210589328U (en) | Multi-degree-of-freedom robot hand | |
| CN108237546B (en) | Automatic meal feeder | |
| CN210479042U (en) | Unmanned aerial vehicle snatchs mechanism | |
| CN210619494U (en) | Multi-angle sorting manipulator | |
| CN116235703B (en) | Sweet pepper picking device and control method | |
| CN108274457B (en) | Four-degree-of-freedom robot operating arm | |
| CN206633015U (en) | A kind of mechanical arm | |
| CN200939710Y (en) | Auotmatic remover for waste edges | |
| CN212374404U (en) | Swing type material distributing mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |